Study On Pose Adaptive Grinding Device For Large Free-form Surface And Temperature Field Of Cup Wheel Grinding

With the wind enegy as clean enegy advocated,the wind energy installed capacity and the unit's capacity has been improved rapidly,these make the manufacture and repairment is attracting more and more attention.The manufacture and repairment is difficult since the wind turbine blade as one of the main components in the wind turbine is huge,complex-shaped and easy to be themally damaged in grinding process.In addition,the traditional manual grinding work is high intense,ineffitient and the environment is bad.So the research of automation device on wind turbine blade has great significance.The automation device such as industrial robot is applied to replace the manual operation to grinding,for getting accurate surface,the end of the robot need to adjust posture and control normal force based on wind turbine blade surface,so the adaption to curved surface and the effective control of contact force is one of end effector research main problems.An adaptive grinding device for large free-form surface is designed to solve the problem.The self-adaptive moving mechanism and the force control grinding tool module could make the force and position control independently,realize the purpose of the compliance and adaption for curved surface in the grinding process.The surface temperature field based on annular moving heat source model of cup wheel grinding has been established and then this paper has heat dissipation performance on designed cup wheel.These provide the basis for replacing sand plate.Firstly,the lateral characteristics of the important originals in the device are studied,which include the deflection and angle.According to the stability analysis of spring during the device movement,the structure of the original grinding device is improved by three guide bars which could enhance the motion stability of the mechanism and satisfy the functional requirement in theory.Secondly,the virtual prototype model of the grinding device has been established in the ADAMS software.The motion stability and the adaptability of the grinding device could be verified and tested by simulation of three typical shape surfaces which include plane,cylindrical surface and sphere on the workpiece surface.Results show that the grinding device has good motion stability and adaptability on the three typical shape surfaces.The designed grinding device can satisfy the requirement of large free-form surface such as the wind blades.Finally,after the above research of the grinding device,grinding burn problems may appear possibly in grinding area,so the temperature field of grinding area has been established.Analytic theory of temperature field of ring moving heat source has been derived.The analytic theory turns out to be correct by the experiment and analytic calculation of static heat model.According to the grinding calculation data,the surface temperature field has been calculated by Mathcad software and simulated by ANSYS software.The results show that the inhomogeneity of temperature distribution may lead to the grinding burn problem.In order to solve the problem,two kinds of heat dissipation wheel have been designed to improve the heat dissipation conditions,the dissipation data and the simulation verifies the effectiveness of the heat dissipation.The feasibility that the cup wheel replaces the plate is raised by the simulation results of temperature field in ANSYS software.